lecture 01 variables scripts and operations

6.094Introduction to Programming in MATLAB

Danilo Šćepanović

IAP 2010

Lecture 1: Variables, Scripts,

and Operations

Course Layout

• Lectures1: Variables, Scripts and Operations2: Visualization and Programming3: Solving Equations, Fitting4: Images, Animations, Advanced Methods5: Optional: Symbolic Math, Simulink

Outline

(1) Getting Started(2) Scripts(3) Making Variables(4) Manipulating Variables(5) Basic Plotting

Command Window

Current directory

Workspace

Command History

Courtesy of The MathWorks, Inc. Used with permission.

Making Folders

• Use folders to keep your programs organized

• To make a new folder, click the ‘Browse’ button next to ‘Current Directory’

• Click the ‘Make New Folder’ button, and change the name of the folder. Do NOT use spaces in folder names. In the MATLAB folder, make two new folders: IAPMATLAB\day1

• Highlight the folder you just made and click ‘OK’• The current directory is now the folder you just created• To see programs outside the current directory, they should be in

the Path. Use File-> Set Path to add folders to the path

Customization

• File PreferencesAllows you personalize your MATLAB experience


MATLAB Basics

• MATLAB can be thought of as a super-powerful graphing calculator

Remember the TI-83 from calculus? With many more buttons (built-in functions)

• In addition it is a programming languageMATLAB is an interpreted language, like JavaCommands executed line by line

Help/Docs

• help

The most important function for learning MATLAB on your own

• To get info on how to use a function:» help sin

Help lists related functions at the bottom and links to the doc

• To get a nicer version of help with examples and easy-to-read descriptions:» doc sin

• To search for a function by specifying keywords:» doc + Search tab

Outline


Scripts: Overview

• Scripts are collection of commands executed in sequencewritten in the MATLAB editorsaved as MATLAB files (.m extension)

• To create an MATLAB file from command-line» edit helloWorld.m

• or click


Scripts: the Editor

* Means that it's not savedLine numbers

Comments

MATLAB file path

Help file

Possible breakpoints

Debugging toolsReal-time error check


Scripts: Some Notes

• COMMENT!Anything following a % is seen as a commentThe first contiguous comment becomes the script's help fileComment thoroughly to avoid wasting time later

• Note that scripts are somewhat static, since there is no input and no explicit output

• All variables created and modified in a script exist in the workspace even after it has stopped running

Exercise: Scripts

Make a helloWorld script

• When run, the script should display the following text:

• Hint: use disp to display strings. Strings are written between single quotes, like 'This is a string'

Hello World!I am going to learn MATLAB!

Outline


Variable Types

• MATLAB is a weakly typed languageNo need to initialize variables!

• MATLAB supports various types, the most often used are» 3.84

64-bit double (default)» ‘a’

16-bit char

• Most variables you’ll deal with will be vectors or matrices of doubles or chars

• Other types are also supported: complex, symbolic, 16-bit and 8 bit integers, etc. You will be exposed to all these types through the homework

Naming variables

• To create a variable, simply assign a value to a name:» var1=3.14

» myString=‘hello world’

• Variable namesfirst character must be a LETTERafter that, any combination of letters, numbers and _CASE SENSITIVE! (var1 is different from Var1)

• Built-in variables. Don’t use these names!i and j can be used to indicate complex numbers

pi has the value 3.1415926…

ans stores the last unassigned value (like on a calculator)

Inf and -Inf are positive and negative infinity

NaN represents ‘Not a Number’

Scalars

• A variable can be given a value explicitly» a = 10

shows up in workspace!

• Or as a function of explicit values and existing variables » c = 1.3*45-2*a

• To suppress output, end the line with a semicolon» cooldude = 13/3;

Arrays

• Like other programming languages, arrays are an important part of MATLAB

• Two types of arrays

(1) matrix of numbers (either double or complex)

(2) cell array of objects (more advanced data structure)

MATLAB makes vectors easy!That’s its power!

Row Vectors

• Row vector: comma or space separated values between brackets» row = [1 2 5.4 -6.6]

» row = [1, 2, 5.4, -6.6];

• Command window:

• Workspace:


Column Vectors

• Column vector: semicolon separated values between brackets » column = [4;2;7;4]

• Command window:

• Workspace:


size & length

• You can tell the difference between a row and a column vector by:

Looking in the workspaceDisplaying the variable in the command windowUsing the size function

• To get a vector's length, use the length function

Matrices

• Make matrices like vectors

• Element by element» a= [1 2;3 4];

• By concatenating vectors or matrices (dimension matters)» a = [1 2];

» b = [3 4];

» c = [5;6];

» d = [a;b];

» e = [d c];

» f = [[e e];[a b a]];

» str = ['Hello, I am ' 'John'];

Strings are character vectors

1 23 4

a ⎡ ⎤= ⎢ ⎥⎣ ⎦

save/clear/load

• Use save to save variables to a file» save myFile a b

saves variables a and b to the file myfile.matmyfile.mat file is saved in the current directoryDefault working directory is

» \MATLABMake sure you’re in the desired folder when saving files. Right now, we should be in:

» MATLAB\IAPMATLAB\day1

• Use clear to remove variables from environment» clear a b

look at workspace, the variables a and b are gone

• Use load to load variable bindings into the environment» load myFile

look at workspace, the variables a and b are back

• Can do the same for entire environment» save myenv; clear all; load myenv;

Exercise: Variables

Get and save the current date and time• Create a variable start using the function clock• What is the size of start? Is it a row or column?• What does start contain? See help clock• Convert the vector start to a string. Use the function

datestr and name the new variable startString• Save start and startString into a mat file named

startTime

Exercise: Variables

Read in and display the current date and time• In helloWorld.m, read in the variables you just saved using

load

• Display the following text:

• Hint: use the disp command again, and remember that strings are just vectors of characters so you can join two strings by making a row vector with the two strings as sub-vectors.

I started learning MATLAB on *start date and time*

Outline


Basic Scalar Operations

• Arithmetic operations (+,-,*,/)» 7/45» (1+i)*(2+i)» 1 / 0» 0 / 0

• Exponentiation (^)» 4^2» (3+4*j)^2

• Complicated expressions, use parentheses» ((2+3)*3)^0.1

• Multiplication is NOT implicit given parentheses» 3(1+0.7) gives an error

• To clear command window» clc

Built-in Functions

• MATLAB has an enormous library of built-in functions

• Call using parentheses – passing parameter to function» sqrt(2)

» log(2), log10(0.23)

» cos(1.2), atan(-.8)

» exp(2+4*i)

» round(1.4), floor(3.3), ceil(4.23)

» angle(i); abs(1+i);

Exercise: Scalars

You will learn MATLAB at an exponential rate! Add the following to your helloWorld script:

• Your learning time constant is 1.5 days. Calculate the number of seconds in 1.5 days and name this variable tau

• This class lasts 5 days. Calculate the number of seconds in 5 days and name this variable endOfClass

• This equation describes your knowledge as a function of time t:

• How well will you know MATLAB at endOfClass? Name this variable knowledgeAtEnd. (use exp)

• Using the value of knowledgeAtEnd, display the phrase:

• Hint: to convert a number to a string, use num2str

/1 tk e τ−= −

At the end of 5 days, I will know X% of MATLAB

Transpose

• The transpose operators turns a column vector into a row vector and vice versa» a = [1 2 3 4+i]

» transpose(a)

» a'

» a.'

• The ' gives the Hermitian-transpose, i.e. transposes and conjugates all complex numbers

• For vectors of real numbers .' and ' give same result

Addition and Subtraction

• Addition and subtraction are element-wise; sizes must match (unless one is a scalar):

• The following would give an error» c = row + column

• Use the transpose to make sizes compatible» c = row’ + column

» c = row + column’

• Can sum up or multiply elements of vector» s=sum(row);

» p=prod(row);

[ ][ ][ ]

12 3 32 11

2 11 30 32

14 14 2 21

−

+ −

=

12 3 91 1 210 13 230 33 33

⎡ ⎤ ⎡ ⎤ ⎡ ⎤⎢ ⎥ ⎢ ⎥ ⎢ ⎥−⎢ ⎥ ⎢ ⎥ ⎢ ⎥− =⎢ ⎥ ⎢ ⎥ ⎢ ⎥− −⎢ ⎥ ⎢ ⎥ ⎢ ⎥−⎣ ⎦ ⎣ ⎦ ⎣ ⎦

Element-Wise Functions

• All the functions that work on scalars also work on vectors» t = [1 2 3];

» f = exp(t);

is the same as» f = [exp(1) exp(2) exp(3)];

• If in doubt, check a function’s help file to see if it handles vectors elementwise

• Operators (* / ^) have two modes of operationelement-wisestandard

Operators: element-wise

• To do element-wise operations, use the dot: . (.*, ./, .^). BOTH dimensions must match (unless one is scalar)!» a=[1 2 3];b=[4;2;1];

» a.*b, a./b, a.^b all errors

» a.*b', a./b’, a.^(b’) all valid

[ ]4

1 2 3 21

1 4 42 2 43 1 33 1 3 1 3 1

.* ERROR

.*

.*

⎡ ⎤⎢ ⎥ =⎢ ⎥⎢ ⎥⎣ ⎦

⎡ ⎤ ⎡ ⎤ ⎡ ⎤⎢ ⎥ ⎢ ⎥ ⎢ ⎥=⎢ ⎥ ⎢ ⎥ ⎢ ⎥⎢ ⎥ ⎢ ⎥ ⎢ ⎥⎣ ⎦ ⎣ ⎦ ⎣ ⎦× × = ×

1 1 1 1 2 3 1 2 32 2 2 1 2 3 2 4 63 3 3 1 2 3 3 6 9

3 3 3 3 3 3

.*

.*

⎡ ⎤ ⎡ ⎤ ⎡ ⎤⎢ ⎥ ⎢ ⎥ ⎢ ⎥=⎢ ⎥ ⎢ ⎥ ⎢ ⎥⎢ ⎥ ⎢ ⎥ ⎢ ⎥⎣ ⎦ ⎣ ⎦ ⎣ ⎦

× × = ×

2 2

2 2

1 2 1 22

3 4 3 4.^

Can be any dimension

⎡ ⎤⎡ ⎤= ⎢ ⎥⎢ ⎥

⎣ ⎦ ⎣ ⎦

Operators: standard

• Multiplication can be done in a standard way or element-wise• Standard multiplication (*) is either a dot-product or an outer-

productRemember from linear algebra: inner dimensions must MATCH!!

• Standard exponentiation (^) can only be done on square matrices or scalars

• Left and right division (/ \) is same as multiplying by inverseOur recommendation: just multiply by inverse (more on this later)

[ ]4

1 2 3 2 111

1 3 3 1 1 1

*

*

⎡ ⎤⎢ ⎥ =⎢ ⎥⎢ ⎥⎣ ⎦

× × = ×

1 1 1 1 2 3 3 6 92 2 2 1 2 3 6 12 183 3 3 1 2 3 9 18 27

3 3 3 3 3 3

*

*

⎡ ⎤ ⎡ ⎤ ⎡ ⎤⎢ ⎥ ⎢ ⎥ ⎢ ⎥=⎢ ⎥ ⎢ ⎥ ⎢ ⎥⎢ ⎥ ⎢ ⎥ ⎢ ⎥⎣ ⎦ ⎣ ⎦ ⎣ ⎦

× × = ×

1 2 1 2 1 22

3 4 3 4 3 4^ *

Must be square to do powers

⎡ ⎤ ⎡ ⎤ ⎡ ⎤=⎢ ⎥ ⎢ ⎥ ⎢ ⎥

⎣ ⎦ ⎣ ⎦ ⎣ ⎦

Exercise: Vector Operations

Calculate how many seconds elapsed since the start of class

• In helloWorld.m, make variables called secPerMin, secPerHour, secPerDay, secPerMonth (assume 30.5 days per month), and secPerYear (12 months in year), which have the number of seconds in each time period.

• Assemble a row vector called secondConversion that has elements in this order: secPerYear, secPerMonth, secPerDay, secPerHour, secPerMinute, 1.

• Make a currentTime vector by using clock• Compute elapsedTime by subtracting currentTime from

start

• Compute t (the elapsed time in seconds) by taking the dot product of secondConversion and elapsedTime (transpose one of them to get the dimensions right)

Exercise: Vector Operations

Display the current state of your knowledge• Calculate currentKnowledge using the same relationship as

before, and the t we just calculated:

• Display the following text:

/1 tk e τ−= −

At this time, I know X% of MATLAB

Automatic Initialization

• Initialize a vector of ones, zeros, or random numbers» o=ones(1,10)

row vector with 10 elements, all 1» z=zeros(23,1)

column vector with 23 elements, all 0» r=rand(1,45)

row vector with 45 elements (uniform [0,1])» n=nan(1,69)

row vector of NaNs (useful for representing uninitialized variables)

The general function call is:var=zeros(M,N);

Number of rows Number of columns

Automatic Initialization

• To initialize a linear vector of values use linspace» a=linspace(0,10,5)

starts at 0, ends at 10 (inclusive), 5 values

• Can also use colon operator (:)» b=0:2:10

starts at 0, increments by 2, and ends at or before 10increment can be decimal or negative

» c=1:5

if increment isn’t specified, default is 1

• To initialize logarithmically spaced values use logspacesimilar to linspace, but see help

Exercise: Vector Functions

Calculate your learning trajectory• In helloWorld.m, make a linear time vector tVec that has

10,000 samples between 0 and endOfClass• Calculate the value of your knowledge (call it

knowledgeVec) at each of these time points using the same equation as before:

/1 tk e τ−= −

Vector Indexing

• MATLAB indexing starts with 1, not 0We will not respond to any emails where this is the problem.

• a(n) returns the nth element

• The index argument can be a vector. In this case, each element is looked up individually, and returned as a vector of the same size as the index vector.» x=[12 13 5 8];

» a=x(2:3); a=[13 5];

» b=x(1:end-1); b=[12 13 5];

[ ]13 5 9 10a =

a(1) a(2) a(3) a(4)

Matrix Indexing

• Matrices can be indexed in two waysusing subscripts (row and column)using linear indices (as if matrix is a vector)

• Matrix indexing: subscripts or linear indices

• Picking submatrices» A = rand(5) % shorthand for 5x5 matrix

» A(1:3,1:2) % specify contiguous submatrix

» A([1 5 3], [1 4]) % specify rows and columns

14 339 8⎡ ⎤⎢ ⎥⎣ ⎦

b(1)

b(2)

b(3)

b(4)

14 339 8⎡ ⎤⎢ ⎥⎣ ⎦

b(1,1)

b(2,1)

b(1,2)

b(2,2)

Advanced Indexing 1

• To select rows or columns of a matrix, use the :

» d=c(1,:); d=[12 5];

» e=c(:,2); e=[5;13];

» c(2,:)=[3 6]; %replaces second row of c

12 52 13

c ⎡ ⎤= ⎢ ⎥−⎣ ⎦

Advanced Indexing 2

• MATLAB contains functions to help you find desired values within a vector or matrix» vec = [5 3 1 9 7]

• To get the minimum value and its index:» [minVal,minInd] = min(vec);

max works the same way

• To find any the indices of specific values or ranges» ind = find(vec == 9);

» ind = find(vec > 2 & vec < 6);

find expressions can be very complex, more on this later

• To convert between subscripts and indices, use ind2sub, and sub2ind. Look up help to see how to use them.

Exercise: Indexing

When will you know 50% of MATLAB?• First, find the index where knowledgeVec is closest to 0.5.

Mathematically, what you want is the index where the value of is at a minimum (use abs and min).

• Next, use that index to look up the corresponding time in tVec and name this time halfTime.

• Finally, display the string: Convert halfTime to days by using secPerDay

0.5knowledgeVec −

I will know half of MATLAB after X days

Outline

(1) Getting Started(2) Scripts (3) Making Variables(4) Manipulating Variables(5) Basic Plotting

Did everyone sign in?

Plotting

• Example» x=linspace(0,4*pi,10);

» y=sin(x);

• Plot values against their index» plot(y);

• Usually we want to plot y versus x» plot(x,y);

MATLAB makes visualizing data fun and easy!

What does plot do?

• plot generates dots at each (x,y) pair and then connects the dots with a line

• To make plot of a function look smoother, evaluate at more points » x=linspace(0,4*pi,1000);

» plot(x,sin(x));

• x and y vectors must be same size or else you’ll get an error» plot([1 2], [1 2 3])

error!!

10 x values:

0 2 4 6 8 10 12 14-1

-0.8

-0.6

-0.4

-0.2

0

0.2

0.4

0.6

0.8

1

0 2 4 6 8 10 12 14-1

-0.8

-0.6

-0.4

-0.2

0

0.2

0.4

0.6

0.8

1

1000 x values:

Exercise: Plotting

Plot the learning trajectory• In helloWorld.m, open a new figure (use figure)• Plot the knowledge trajectory using tVec and

knowledgeVec. When plotting, convert tVec to days by using secPerDay

• Zoom in on the plot to verify that halfTime was calculated correctly

End of Lecture 1


Hope that wasn’t too much!!

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6.094 Introduction to MATLAB® January (IAP) 2010

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